A single-edge curved needle type three-dimensional composite material preform stitching head and a stitching method thereof

Abstract

The application provides a single-edge curved needle type three-dimensional composite material preform stitching head and a stitching method thereof, and belongs to the technical field of single-edge stitching. The stitching head comprises a rack, a lead mechanism, a hook mechanism, a synchronous transmission mechanism, a guide mechanism, a presser foot plate and a driving mechanism. The lead mechanism and the hook mechanism are both mounted on the inner side of the rack and are driven by a servo motor and a speed reducer to realize the reciprocating rotary motion of the lead needle and the hook needle on the fixed plane respectively. The synchronous transmission mechanism ensures the synchronous rotation of the cranks in the lead mechanism and the hook mechanism, and synchronous control can be realized by one servo motor. The guide mechanism guides the direction of the stitching line to ensure the stitching line tension and improve the efficiency of stitch formation. It can be seen that the application has compact structure and wide application range. The application can not only realize the stitching of the preform through the thickness, but also realize non-penetrating stitching and complete the laying and splicing to improve the production efficiency and the consistency of the product.

Description

Technical Field

[0001] This invention belongs to the field of single-sided stitching technology, and in particular relates to a single-sided curved needle type three-dimensional composite material preform stitching head and its stitching method. Background Technology

[0002] Three-dimensional stitching technology involves introducing stitches along the thickness direction of composite laminates. Because stitched composites can significantly improve the interlaminar strength of traditional composites, they have attracted widespread attention and have gradually become a research hotspot in the field of interlaminar reinforcement of composite materials in recent years. With the widespread application of fiber-reinforced composites in aerospace and other fields, the industrial demand for stitched composites is becoming increasingly urgent. Therefore, research on composite stitching technology has outstanding engineering significance for the industrial application of stitched composites.

[0003] Existing single-sided sewing techniques mainly include OSS sewing, single-sided double-needle double-thread sewing, tufting sewing, and blind sewing. OSS sewing, single-sided double-needle double-thread sewing, and tufting sewing have been researched both domestically and internationally. Blind sewing is a single-sided sewing technique that does not require any free space on the bottom surface of the material. Compared with other single-sided sewing techniques, the advantage of blind sewing is that it can not only achieve through-thickness sewing of fiber preforms, but also achieve non-penetrating sewing. Therefore, the size and shape of the sewn material are not limited by the size of the sewing machine.

[0004] Most existing single-sided stitching prototypes use dual motors to control the lead needle and hook needle separately, which makes synchronous control difficult and unsuitable for carbon fiber sutures. They also use guide rails to move the entire prototype, resulting in low degrees of freedom and making them unsuitable for stitching curved prefabricated structures. Furthermore, the stitch planning of existing prototypes can easily cause interference between the curved needle and suture in adjacent stitching cycles, damaging the suture and affecting the stitching effect. Summary of the Invention

[0005] The problem to be solved by the present invention is to provide a single-sided bent-needle type three-dimensional composite material preform suture head and its suture method.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a single-sided curved needle type three-dimensional composite material preform stitching head, including a thread guiding mechanism, a thread hooking mechanism and a synchronous transmission mechanism, wherein the thread guiding mechanism and the thread hooking mechanism are installed in the frame and are driven to perform reciprocating rotational motion by the synchronous transmission mechanism;

[0007] The frame includes side plate I, side plate II, and top plate;

[0008] The lead wire mechanism includes an upper lead wire shaft I and a lower lead wire shaft I. One end of the upper lead wire shaft I is rotatably connected to a side plate I, and the other end of the upper lead wire shaft I is connected to a lead wire crank II. A lead wire connecting rod is provided between the lead wire crank II and the lead wire crank I. The upper end of the lead wire connecting rod is rotatably connected to the lead wire crank II and the lead wire crank I, and the lower end of the lead wire connecting rod is rotatably connected to a lead wire rocker arm. One end of the lead wire rocker arm is rotatably connected to the lead wire connecting rod, and the other end of the lead wire rocker arm is connected to the lower lead wire shaft I. A lead wire needle handle is installed at the output end of the lower lead wire shaft I, and a hook-shaped lead wire needle is installed on the lead wire needle handle.

[0009] The hooking mechanism includes a hooking bevel gear set, a hooking rocker, and a hooking needle. The two bevel gears of the hooking bevel gear set are respectively connected to hooking rotation shaft I and hooking rotation shaft II. The hooking rotation shaft II is vertically arranged, and a hooking needle fixing component is installed at the bottom end of the hooking rotation shaft II. The hooking needle is installed on the hooking needle fixing component. The hooking needle is horizontally arranged and hook-shaped. One end of the hooking rocker is installed on the hooking rotation shaft I, and the other end of the hooking rocker is connected to the hooking connecting rod. The end of the hooking connecting rod away from the hooking rocker is connected to the hooking crank.

[0010] The lead crank I of the lead mechanism and the hook crank of the hook mechanism are respectively connected to the synchronous transmission mechanism.

[0011] Furthermore, the synchronous transmission mechanism includes synchronous pulleys, and there are two synchronous pulleys connected by a synchronous belt. The two synchronous pulleys are respectively connected to the upper shaft II and the lower shaft II. The other ends of the upper shaft II and the lower shaft II are respectively connected to the hook crank of the hook mechanism and the lead crank I of the lead mechanism.

[0012] Furthermore, it also includes a thread guiding mechanism, which comprises a yarn tensioner, a ceramic ring, a thread guide block, and a yarn bobbin. The yarn bobbin is fixed to side plate II via a yarn bobbin seat. The thread guide block is mounted on side plate I. The ceramic ring is installed in the round hole of the thread guide block to prevent friction damage between the thread and the thread guide block. The thread guide block is used to extract the thread and guide its direction. The yarn tensioner is fixed to side plate I via a yarn tensioner seat. The thread is extracted from the yarn bobbin, passes through the thread guide block, and then through the yarn tensioner to ensure stable tension of the thread.

[0013] Furthermore, it also includes a presser foot plate, which is installed at the bottom of side plate I. The presser foot plate has a groove I for a hook-shaped needle to pass through and a groove II to reduce its own weight. The presser foot plate is fixed to the bottom of side plate I through an elongated hole, and the installation height can be adjusted to achieve pre-tightening force on the sewing material.

[0014] Furthermore, it also includes a drive mechanism, which comprises a servo motor and a photoelectric sensor. The servo motor is mounted on the frame, and its output end is connected to a reducer. The output end of the reducer is connected to a boss-type pulley, which is connected to the synchronous transmission mechanism via a belt, thereby driving the stitching motion inside the frame. A pointer is provided on the boss-type pulley, and the pointer rotates with the output end of the reducer. The photoelectric sensor is mounted and fixed on the motor mounting plate I, and is used to detect the position of the pointer. The photoelectric sensor detects the initial position of the pointer, and after the servo motor starts, the photoelectric sensor detects the position of the output shaft after one revolution, ensuring the accuracy of the synchronous transmission mechanism.

[0015] Furthermore, it also includes a control system, which includes a human-machine interface and a PLC. The human-machine interface is connected to the PLC, and the PLC is connected to a servo motor through a driver.

[0016] Furthermore, the human-machine interface is used for instruction input and display. It is connected to the PLC via a data cable. The set parameters are input into the PLC via the data cable. The PLC sends pulse commands to the driver, the servo motor returns to its initial position, the position of the servo motor is determined by the photoelectric sensor, the servo motor is started, and the PLC controls the servo motor.

[0017] This invention also provides a suturing method for a single-sided curved needle type three-dimensional composite material preform suture head, comprising the following steps:

[0018] S1. The lead needle and hook needle are in their initial positions above the preform. The PLC controls and drives the lead needle to start puncturing and suturing, while the hook needle rotates counterclockwise horizontally backward from its initial position.

[0019] S2. The lead needle carries a single thread through the preform in an arc-shaped trajectory and begins to retreat along the original path after reaching the termination position. At the same time, the hook needle also retreats along the original path after reaching the termination position.

[0020] S3. During the retraction process of the guide needle and the hook needle, the suture on the guide needle rubs unevenly with the preform, and the suture accumulates and forms a loop; the hook needle rotates clockwise from the end position to the initial position, hooks the loop formed by the guide needle, and then continues to move towards the initial position with the suture loop.

[0021] S4. After the thread guide needle and the hook needle reach their initial positions, the PLC receives feedback control to move the suture head by a fixed needle distance, and the thread guide needle carries the suture thread to puncture the preform again.

[0022] S5. When the thread-leading needle carries the suture through the preform, it passes through the loop of thread hooked by the hook needle. Then the thread-leading needle continues to move towards the termination position. When the hook needle moves towards its termination position, it throws out the loop of thread. The thrown-out loop of thread and the thread that has passed through form a loop lock, completing one sewing cycle.

[0023] Repeat steps S2 to S5 to complete the prefabricated body suturing.

[0024] By adopting the above technical solution, the present invention has the following beneficial effects:

[0025] The thread guiding mechanism and the thread hooking mechanism of this invention are both installed inside the frame and driven by a servo motor and a reducer, respectively realizing the reciprocating rotation of the thread guiding needle and the thread hooking needle on a fixed plane; the synchronous transmission mechanism ensures that the cranks in the thread guiding mechanism and the thread hooking mechanism rotate synchronously, and synchronous control can be achieved through a single servo motor; the guide wire mechanism guides the direction of the suture thread, ensuring suture tension and improving stitch formation efficiency; the adjustable pressure foot plate located at the lower part of the suture head can realize the pre-tightening force for preforms of different thicknesses.

[0026] This invention features a compact structure, is compatible with multi-degree-of-freedom robotic arms, and has a wide range of applications. It can achieve stable single-sided stitching of carbon fiber preforms, enabling not only through-thickness stitching but also non-penetrating stitching, as well as lay-up splicing and Z-axis fastening of thick seams. This improves the quality of stitch formation, reduces labor costs, and enhances product consistency and production efficiency. Attached Figure Description

[0027] The present invention will be described in detail below with reference to the accompanying drawings and examples. The advantages and implementation methods of the present invention will become more apparent from this description. The accompanying drawings are for illustrative purposes only and do not constitute any limitation on the present invention. In the accompanying drawings:

[0028] Figure 1 This is a perspective view of the present invention.

[0029] Figure 2 This is the front view of the present invention.

[0030] Figure 3 This is a side view of the present invention.

[0031] Figure 4 This is a schematic diagram of the lead wire mechanism of the present invention.

[0032] Figure 5 This is a schematic diagram of the hook mechanism of the present invention.

[0033] Figure 6 This is a schematic diagram of the synchronous transmission mechanism of the present invention.

[0034] Figure 7 This is a schematic diagram of the conductor mechanism of the present invention.

[0035] Figure 8 This is a schematic diagram of the presser foot plate of the present invention.

[0036] Figure 9 This is a schematic diagram of the drive mechanism of the present invention.

[0037] Figure 10 This is a diagram illustrating the stitch formation process of the suturing method of the present invention.

[0038] Figure 11 This is a top view of the movement trajectory of the hook needle in this invention.

[0039] Figure 12 This is a diagram of the suture supply circuit of the present invention.

[0040] In the picture:

[0041] 1. Frame; 2. Lead wire mechanism; 3. Wire hooking mechanism; 4. Synchronous transmission mechanism; 5. Wire guiding mechanism; 6. Pressure foot plate; 7. Drive mechanism;

[0042] 101. Side panel I; 102. Side panel II; 103. Top panel; 104. Horizontal axis;

[0043] 201. Lead wire crank I; 202. Lead wire pin I; 203. Lead wire connecting rod; 204. Lead wire crank II; 205. Lead wire upper shaft I; 206. Lead wire pin II; 207. Lead wire rocker; 208. Lead wire lower shaft I; 209. Lead wire needle handle; 210. Lead wire needle;

[0044] 301. Hooking crank; 302. Hooking pin I; 303. Hooking connecting rod; 304. Hooking pin II; 305. Hooking rocker; 306. Hooking rotating shaft I; 308. Hooking bevel gear set; 309. Hooking rotating shaft II; 310. Hooking vertical bearing seat; 311. Hooking needle fixing component; 312. Hooking needle;

[0045] 401. Synchronous belt tensioner I; 402. Synchronous belt pulley; 403. Synchronous belt; 404. Upper shaft II; 405. Synchronous belt tensioner II; 406. Bearing end cover; 407. Lower shaft II;

[0046] 501. Yarn bobbin; 502. Yarn bobbin holder; 503. Lead wire block; 504. Ceramic ring; 505. Yarn tensioner holder; 506. Yarn tensioner;

[0047] 601, Slot I; 602, Slot II;

[0048] 701. Servo motor; 702. Reducer; 703. Boss-type pulley; 704. Pointer; 705. Photoelectric sensor; 706. Motor mounting plate I; 707. Motor mounting plate II. Detailed Implementation

[0049] like Figures 1 to 12 As shown, the present invention provides a single-sided bent-needle type three-dimensional composite material preform stitching head, comprising a frame 1, a lead wire mechanism 2, a hook wire mechanism 3, a synchronous transmission mechanism 4, a wire guide mechanism 5, a pressure foot plate 6, and a drive mechanism 7.

[0050] The frame 1 is an irregular rectangle, including side plate I 101, side plate II 102, top plate 103 and four horizontal shafts 104; the top plate 103 is connected to side plate I 101 and side plate II 102 by bolts, and the two side plates are connected by horizontal shafts 104. Side plate I 101 and side plate II 102 have multiple slots to reduce their weight.

[0051] The lead wire mechanism 2 and the hook wire mechanism 3 are installed inside the frame 1 and reciprocate through the crank driving the rocker arm.

[0052] like Figure 4 As shown, the lead wire mechanism 2 includes a lead wire crank I 201, a lead wire pin I 202, a lead wire connecting rod 203, a lead wire crank II 204, an upper lead wire shaft I 205, a lead wire pin II 206, a lead wire rocker 207, an lower lead wire shaft I 208, a lead wire needle handle 209, and a lead wire needle 210. One end of the lead shaft I 205 is rotatably connected to the side plate I 101, and the other end is connected to the lead crank II 204. A lead connecting rod 203 is provided between the lead crank II 204 and the lead crank I 201. The upper end of the lead connecting rod 203 is rotatably connected to the lead crank II 204 and the lead crank I 201 through the lead pin I 202, and the lower end is rotatably connected to the lead rocker 207. One end of the lead rocker 207 is rotatably connected to the lead connecting rod 203 through the lead pin II 206, and the other end is connected to the lead shaft I 208. A lead needle handle 209 is installed at the output end of the lead shaft I 208. A hook-shaped lead needle 210 with a fixed radius of curvature is installed on the lead needle handle 209. A groove is provided at the end of the lead needle 210.

[0053] like Figure 5As shown, the hooking mechanism 3 includes a hooking crank 301, a hooking pin I 302, a hooking connecting rod 303, a hooking pin II 304, a hooking rocker 305, a hooking rotating shaft I 306, a hooking bevel gear set 308, a hooking rotating shaft II 309, a hooking vertical bearing seat 310, a hooking needle fixing part 311, and a hooking needle 312. The two bevel gears of the hook line bevel gear set 308 are connected to the hook line rotating shaft I 306 and the hook line rotating shaft II 309 respectively via keys. The hook line rotating shaft II 309 is vertically set, and the bottom end is bolted to the hook line needle fixing part 311. The hook line needle 312 is bolted to the hook line needle fixing part 311 and positioned by a key. The hook line needle 312 is horizontally set and is hook-shaped. The hook line rotating shaft II 309 is provided with a hook line vertical bearing seat 310. The hook line rotating shaft II 309 and the hook line vertical bearing seat 310 are positioned by a shaft shoulder and a bearing is provided between them. One end of the hook line rocker 305 is mounted on the hook line rotating shaft I 306, and the other end is connected to the hook line connecting rod 303 via the hook line pin II 304. The end of the hook line connecting rod 303 away from the hook line rocker 305 is connected to the hook line crank 301 via the hook line pin I 302.

[0054] In the hook mechanism 3, the vertical rotational motion is converted into the horizontal rotational motion through the meshing of two bevel gears; the hook vertical bearing seat 310 has a built-in deep groove ball bearing and an inner elastic retaining ring, and the hook rotating shaft II 309 is positioned by the shaft shoulder to prevent axial movement; the two hook vertical bearing seats 310 are fixed to the side plate I 101 by bolts to ensure the straightness of the rotating shaft II when it rotates.

[0055] like Figure 6 As shown, the synchronous transmission mechanism 4 includes a synchronous belt tensioner I 401, a synchronous belt pulley 402, a synchronous belt 403, an upper shaft II 404, a synchronous belt tensioner II 405, a bearing end cover 406, and a lower shaft II 407. Two synchronous belt pulleys 402 are provided, connected by the synchronous belt 403. The two pulleys 402 are keyed to the upper shaft II 404 and the lower shaft II 407 respectively. The upper shaft II 404 and the lower shaft II 407 are connected to the side plate II 102 via the bearing end cover 406 with built-in double bearings. The upper shaft II 404 and the lower shaft II 407 are positioned by shaft shoulders. The synchronous belt tensioner I 401 and the synchronous belt tensioner II 405 are of the same specifications. The synchronous belt tensioner I 401 and the synchronous belt tensioner II 405 are fixed to a fixed plate by pins and cranks respectively. The fixed plate is bolted to the side plate II 102.

[0056] The lead-line crank I 201 of the lead-line mechanism 2 and the hook-line crank 301 of the hook-line mechanism 3 are connected to the lower shaft II 407 and the upper shaft II 404 respectively by keys.

[0057] like Figure 7As shown, the thread guiding mechanism includes a yarn tensioner 506, a ceramic ring 504, a thread guide block 503, and a yarn spool 501. The yarn spool 501 is fixed to the side plate II 102 via a yarn spool seat 502. The thread guide block 503 is mounted on the side plate I 101. The ceramic ring 504 is installed in the round hole of the thread guide block 503 to prevent friction damage between the thread and the thread guide block 503. The thread guide block 503 is used to extract the thread and guide its direction. The yarn tensioner 506 is fixed to the side plate I 101 via a yarn tensioner seat 505. The thread is extracted from the yarn spool 501, passes through the thread guide block 503, and then through the yarn tensioner 506 to ensure stable tension of the thread.

[0058] like Figure 8 As shown, the presser foot 6 is installed at the bottom of the side plate I101. The presser foot 6 has a groove I601 for the hook-shaped needle 210 to pass through and a groove II602 to reduce its own weight. The presser foot 6 is fixed to the bottom of the side plate I101 through an elongated hole, and the installation height can be adjusted to achieve pre-tightening force on the sewing material.

[0059] like Figure 9 As shown, the drive mechanism 7 includes a servo motor 701, a reducer 702, a boss-type pulley 703, a pointer 704, a photoelectric sensor 705, a motor mounting plate I 706, and a motor mounting plate II 707. The servo motor 701 is mounted on the frame 1 via the motor mounting plate II 707. The output end of the servo motor 701 is connected to the reducer 702, and the output end of the reducer 702 is keyed to the boss-type pulley 703. The boss-type pulley 703 is connected to the synchronous transmission mechanism 4 via a belt, thereby driving the sewing movement inside the frame 1. A pointer 704 is provided on the boss-type pulley 703, and the pointer 704 rotates with the output end of the reducer 702. The photoelectric sensor 705 is mounted and fixed on the motor mounting plate I 706, and this photoelectric sensor 705 is used to detect the position of the pointer 704. The photoelectric sensor 705 detects the initial position of the pointer 704. After the servo motor 701 starts, the photoelectric sensor 705 detects the position of the output shaft after one revolution, ensuring the accuracy of the synchronous transmission mechanism 4.

[0060] It also includes a control system, which includes a human-machine interface (touch screen) and a PLC. The human-machine interface is connected to the PLC, and the PLC is connected to the servo motor 701 through a driver.

[0061] The human-machine interface (HMI) is used for inputting and displaying commands. It can be connected to the PLC via a data cable. The set parameters are input into the PLC via the data cable, and the PLC sends pulse commands to the driver. The servo motor 701 returns to its initial position. The position of the servo motor 701 is determined by the photoelectric sensor 705, and the servo motor 701 is started. The PLC controls the servo motor 701. The photoelectric sensor 705 is bolted to the motor mounting plate I 706. The pointer 704 is bolted to the boss-type pulley 703. The boss-type pulley 703 is keyed to the reducer 702. One end of the motor mounting plate II 707 is bolted to the motor mounting plate I 706, and the other end is bolted to the side plate I 101.

[0062] like Figure 10 and Figure 11 As shown, the present invention also provides a suturing method for a single-sided curved needle type three-dimensional composite material preform suture head, comprising the following steps:

[0063] S1, the lead needle 210 and the hook needle 312 are in the initial position above the preform. The PLC controls and drives the lead needle 210 to start puncturing and suturing. At the same time, the hook needle 312 rotates counterclockwise horizontally backward from the initial position (viewed from above). The photoelectric sensor 705 detects the angle rotated by the output end of the reducer 702 and feeds it back to the PLC.

[0064] S2, the thread needle 210 carries a single thread through the preform in an arc-shaped trajectory and begins to retreat along the original path after reaching the termination position. At the same time, the hook needle 312 also retreats along the original path after reaching the termination position.

[0065] During the retraction process of S3, the thread guide needle 210 and the hook needle 312, due to the interlocking groove of the thread guide needle 210, the friction between the thread on both sides of the needle body of the thread guide needle 210 and the preform is uneven, and the thread accumulates and forms a loop; the hook needle 312, in its clockwise horizontal rotational movement from the termination position to the initial position, hooks the well-shaped loop formed by the thread guide needle 210, and then continues to move towards the initial position with the thread loop.

[0066] After S4, the suture needle 210 and the hook needle 312 reach their initial positions, the PLC receives feedback control to move the suture head by a fixed stitch distance, and the suture needle 210 carries the suture to puncture the preform again.

[0067] S5. When the thread guide needle 210 carries the suture through the preform, it passes through the loop of thread hooked by the hook needle 312. Then the thread guide needle 210 continues to move towards the termination position. During the process of the hook needle 312 moving counterclockwise horizontally backward to the termination position, the loop of thread is thrown out. The thrown loop of thread and the thread that has passed through form a loop lock, completing one sewing cycle.

[0068] Repeat steps S2 to S5 to complete the prefabricated body suturing.

[0069] The embodiments of the present invention have been described in detail above, but the content described is only a preferred embodiment of the present invention and should not be considered as limiting the scope of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the present invention.

Claims

1. A single-edge curved needle three-dimensional composite preform stitching head, characterized by: The application relates to a suture device, which comprises a lead mechanism, a hook mechanism and a synchronous transmission mechanism, wherein the lead mechanism and the hook mechanism are installed in a rack and driven to reciprocate and rotate by the synchronous transmission mechanism; the rack comprises side plates I and II and a top plate; the lead mechanism comprises a lead upper shaft I and a lead lower shaft I, one end of the lead upper shaft I is rotationally connected with the side plate I, and the other end of the lead upper shaft I is connected with a lead crank II; a lead connecting rod is arranged between the lead crank II and a lead crank I; the upper end of the lead connecting rod is rotationally connected with the lead crank II and the lead crank I, and the lower end of the lead connecting rod is rotationally connected with a lead rocker; one end of the lead rocker is rotationally connected with the lead connecting rod, and the other end of the lead rocker is connected with the lead lower shaft I; a lead needle handle is installed at the output end of the lead lower shaft I, and a lead needle in the shape of a hook is installed on the lead needle handle; the hook mechanism comprises a hook bevel gear set, a hook rocker and a hook needle; two bevel gears of the hook bevel gear set are respectively connected with a hook rotating shaft I and a hook rotating shaft II; the hook rotating shaft II is vertically arranged, a hook needle fixing piece is installed at the bottom end of the hook rotating shaft II, and the hook needle is installed on the hook needle fixing piece; the hook needle is horizontally arranged and in the shape of a hook; one end of the hook rocker is installed on the hook rotating shaft I, and the other end of the hook rocker is connected with a hook connecting rod; one end of the hook connecting rod away from the hook rocker is connected with a hook crank; the lead crank I of the lead mechanism and the hook crank of the hook mechanism are respectively connected with the synchronous transmission mechanism. The suture device further comprises a driving mechanism, the driving mechanism comprises a servo motor and a photoelectric sensor, the servo motor is installed on the rack, the output end of the servo motor is connected with a speed reducer, the output end of the speed reducer is connected with a boss type pulley, the boss type pulley is connected with the synchronous transmission mechanism through a belt, a pointer is arranged on the boss type pulley, the pointer rotates with the output end of the speed reducer, and the photoelectric sensor is fixedly installed on a motor fixing plate I and used for detecting the position of the pointer. The suture method comprises the following steps: S1, the lead needle and the hook needle are respectively located at initial positions above a prefabricated body, a PLC controls and drives the lead needle to start to puncture and suture, and the hook needle rotates counterclockwise horizontally backward from the initial position; S2, the lead needle carries a single suture to pass through the prefabricated body in an arc-shaped track to reach a terminal position and then starts to retreat along the original path, and the hook needle also retreats along the original path after reaching the terminal position; S3, during the retreat of the lead needle and the hook needle, the suture on the lead needle is unevenly rubbed with the prefabricated body, the suture accumulates and forms a wire loop; the hook needle rotates clockwise horizontally from the terminal position to the initial position, hooks the wire loop formed by the lead needle, and then carries the suture wire loop to continue to move to the initial position; S4, after the lead needle and the hook needle respectively reach the initial positions, the PLC receives feedback control to make the suture head move a fixed needle distance, and the lead needle carries the suture to puncture the prefabricated body again. S5, the lead needle carries the suture through the prefabricated body, and the internal loop of the suture hooked from the hook needle is passed through, then the lead needle continues to move to the termination position, and the hook needle throws the loop when moving to the termination position, and the thrown loop and the passed suture form a loop lock, completing a suture cycle; Repeat steps S2 to S5 to achieve the suture of the prefabricated body.

2. The single-bevel needle 3D composite preform stitching head of claim 1, wherein: The synchronous transmission mechanism comprises synchronous pulleys, two of which are provided, connected by a synchronous belt, and connected with the upper shaft II and the lower shaft II respectively, and the other ends of the upper shaft II and the lower shaft II are connected with the hook line crank of the hook line mechanism and the lead line crank I of the lead line mechanism respectively.

3. The single-bevel needle 3D composite preform stitching head of claim 1, wherein: It also includes a guide mechanism, which comprises a yarn tensioner, a porcelain ring, a lead block and a yarn drum, the yarn drum is fixed on the side plate II through the yarn drum seat, the lead block is installed on the side plate I, the porcelain ring is installed in the round hole of the lead block, and the yarn tensioner is fixed on the side plate I through the yarn tensioner seat.

4. The single-bevel needle 3D composite preform stitching head of claim 1, wherein: It also includes a presser foot plate, which is installed at the bottom of the side plate I, and a slot I for the lead needle with a hook shape and a slot II for reducing the weight are opened on the presser foot plate, and the presser foot plate is fixed below the side plate I through the long round hole.

5. The single-bevel needle 3D composite preform stitching head of claim 1, wherein: It also includes a control system, which comprises a man-machine interface and a PLC, the man-machine interface is connected with the PLC, and the PLC is connected with the servo motor through the driver. It also includes a control system, which comprises a man-machine interface and a PLC, the man-machine interface is connected with the PLC, and the PLC is connected with the servo motor through the driver.

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